首例自主完成血管吻合的机器人系统，用OCT实时导航提升精度。
Autonomous Robotic System with Optical Coherence Tomography Guidance for Vascular Anastomosis
- 融合OCT传感器与微相机，实现术中组织实时检测与分类
- 90%缝合由机器人自主完成，漏液压力等指标达外科医生水平
- 适合需高精度血管手术但人力稀缺的场景
血管吻合是器官移植和重建手术中的关键步骤，但对精度要求极高，限制了其普及性，因人工缝合易导致结果不一，再手术率高达7.9%。现有机器人系统多为远程操作或缺乏自主完成血管吻合的能力。我们提出微型智能组织自主机器人（micro-STAR），专为小直径血管吻合设计。该系统集成新型带光学相干断层扫描（OCT）光纤传感器的缝合工具与微相机，可实现实时组织检测与分类。系统能自主放置缝线并操控组织，人干预极少。体外实验表明，micro-STAR在漏液压力、管腔狭窄度及缝线位置变异度方面表现媲美经验丰富的外科医生，90%缝合无需人为干预。这是首个在真实组织上实现自主血管吻合的机器人系统，有望显著提升手术精度，扩大优质医疗可及性。
原文摘要 · Abstract (English)
Vascular anastomosis, the surgical connection of blood vessels, is essential in procedures such as organ transplants and reconstructive surgeries. The precision required limits accessibility due to the extensive training needed, with manual suturing leading to variable outcomes and revision rates up to 7.9%. Existing robotic systems, while promising, are either fully teleoperated or lack the capabilities necessary for autonomous vascular anastomosis. We present the Micro Smart Tissue Autonomous Robot (micro-STAR), an autonomous robotic system designed to perform vascular anastomosis on small-diameter vessels. The micro-STAR system integrates a novel suturing tool equipped with Optical Coherence Tomography (OCT) fiber-optic sensor and a microcamera, enabling real-time tissue detection and classification. Our system autonomously places sutures and manipulates tissue with minimal human intervention. In an ex vivo study, micro-STAR achieved outcomes competitive with experienced surgeons in terms of leak pressure, lumen reduction, and suture placement variation, completing 90% of sutures without human intervention. This represents the first instance of a robotic system autonomously performing vascular anastomosis on real tissue, offering significant potential for improving surgical precision and expanding access to high-quality care.
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